// This file is part of Sophus.
//
// Copyright 2013 Hauke Strasdat
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to
// deal in the Software without restriction, including without limitation the
// rights  to use, copy, modify, merge, publish, distribute, sublicense, and/or
// sell copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.

#ifndef SOPHUS_HPP
#define SOPHUS_HPP

#include <stdexcept>

// fix log1p not being found on Android in Eigen
#if defined( ANDROID )
#include <cmath>
namespace std
{
using ::log1p;
}
#endif

#include <Eigen/Eigen>
#include <Eigen/Geometry>

namespace Sophus {
    using namespace Eigen;

    template<typename Scalar>
    struct SophusConstants {
        EIGEN_ALWAYS_INLINE static
        const Scalar epsilon() {
            return static_cast<Scalar> ( 1e-10 );
        }

        EIGEN_ALWAYS_INLINE static
        const Scalar pi() {
            return static_cast<Scalar> ( M_PI );
        }
    };

    template<>
    struct SophusConstants<float> {
        EIGEN_ALWAYS_INLINE static
        float epsilon() {
            return static_cast<float> ( 1e-5 );
        }

        EIGEN_ALWAYS_INLINE static
        float pi() {
            return static_cast<float> ( M_PI );
        }
    };

    class SophusException : public std::runtime_error {
    public:
        SophusException(const std::string &str)
                : runtime_error("Sophus exception: " + str) {
        }
    };

}

#endif
